Abstract
This paper presents an investigation into the design of a caterpillar-like robot Catty that utilizes only pneumatic actuators both for propulsion and steering. The proposed approach offers a robot of fully compliant behavior with many advantages. The aim of this research is to verify the mobility of the proposed design and applicability of the caterpillar robot for inspection purposes. Fig. 1 shows a single segment prototype system of the proposed robot, which is able to perform 2-D motion on the smooth non-vertical surfaces. It can also bend the body almost 90 deg. in vertical plane and provides an opportunity for concave transitions.
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Granosik, G., Kaczmarski, M. (2006). Bellows Driven, Muscle Steered Caterpillar Robot. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_89
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DOI: https://doi.org/10.1007/3-540-26415-9_89
Publisher Name: Springer, Berlin, Heidelberg
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